确保不确定环境下动态目标拦截的可行性与鲁棒性。
Reachability-Guaranteed Optimal Control for the Interception of Dynamic Targets under Uncertainty
- 基于刚体可达性分析，构建拦截可行性保障机制。
- 在空间翻滚目标拦截中实现100%可达性保证。
- 适合高安全性要求的航天拦截任务使用。
在不确定环境中的动态目标拦截是现代机器人系统面临的重要挑战。现有控制方法仅依赖估计信息，难以保证鲁棒性和可行性。本文提出一种新方法，针对运动受已知且有界不确定性影响的目标，引入刚体可达性分析新技术，确保在不确定条件下拦截的可行性。进一步构建了可达性保障最优控制问题，实现对目标配置集的鲁棒且可保证的到达。通过空间翻滚目标拦截的案例研究验证了该方法的有效性。
原文摘要 · Abstract (English)
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and feasibility. In this work, we introduce a novel method to tackle the interception of targets whose motion is affected by known and bounded uncertainty. Our approach introduces new techniques of reachability analysis for rigid bodies, leveraged to guarantee feasibility of interception under uncertain conditions. We then propose a Reachability-Guaranteed Optimal Control Problem, ensuring robustness and guaranteed reachability to a target set of configurations. We demonstrate the methodology in the case study of an interception maneuver of a tumbling target in space.
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